Standalone Velocity Estimation Method for BDS Receiver Based on Improved ARUKF

Table 1

The SVE errors of 4 different ARUKF methods.

Method Type	Error Statistics
	CEP (m/s)	SEP (m/s)	error components in the
			E, N, U directions (m/s)
			E	N	U
ARUKF using raw Doppler observation	0.11	0.23	0.08	0.10	0.20
ARUKF using CPDD observation	0.10	0.12	0.02	0.16	0.05
VDFF-ARUKF	0.09	0.19	0.06	0.09	0.16
VDSF-ARUKF	0.04	0.06	0.02	0.06	0.03